Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
103
3
2-axis circular interpolation control with the center point
specified
In 2-axis circular interpolation control ([Da.2] Control method = ABS circular right, INC circular right, ABS circular left, and INC
circular left), two motors are used to perform the position control in an arc path centered at the arc address while the
interpolation is performed for the axis directions set in each axis.
For details on the interpolation control, refer to the following.

Page 77 Interpolation control
The following table shows the rotation directions, central angle of the arc that can be controlled, and positioning path.
Circular interpolation error compensation
In the circular interpolation control with the center point specification, the arc path calculated with the start point address and
center point address and the end point address set in [Da.6] Positioning address/movement amount may deviate.
(

Page 407 [Pr.41] Allowable circular interpolation error width)
Control method Rotation direction Central angle of the arc that
can be controlled Positioning path
ABS circular right Clockwise 0

<
 
360

INC circular right
ABS circular left Counterclockwise
INC circular left
Positioning path
Center point
Start point
(current stop
position) End point
(positioning
address)
0° < θ ≤ 360°
Center point
Positioning path
0° < θ ≤ 360°
Start point
(current stop
position) End point
(positioning
address)